Safe flight corridor constrained sequential convex programming for efficient trajectory generation of fixed-wing UAVs

Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.

Design and high-power testing of offline conditioning cavity for CiADS RFQ high-power coupler

To validate the design rationality of the power coupler for the RFQ cavity and minimize cavity contamination,we designed a low-loss offline conditioning cavity and conducted high-power testing.This offline cavity features two coupling ports and two tuners,operating at a frequency of 162.5 MHz with a tuning range of 3.2 MHz.Adjusting the installation angle of the coupling ring and the insertion depth of the tuner helps minimize cavity losses.We performed electromagnetic structural and multiphysics simulations,revealing a minimal theoretical power loss of 4.3%.However,when the cavity frequency varied by110 kHz,theoretical power losses increased to10%,necessitating constant tuner adjustments during conditioning.Multiphysics simulations indicated that increased cavity temperature did not affect frequency variation.Upon completion of the offline high-power conditioning platform,we measured the transmission performance,revealing a power loss of 6.3%,exceeding the theoretical calculation.Conditioning utilized efficient automatic range scanning and standing wave resonant methods.To fully condition the power coupler,a 15°phase difference between two standing wave points in the condition-ing system was necessary.Notably,the maximum continuous wave power surpassed 20 kW,exceeding the expected target.

A deep multimodal fusion and multitasking trajectory prediction model for typhoon trajectory prediction to reduce flight scheduling cancellation

Natural events have had a significant impact on overall flight activity,and the aviation industry plays a vital role in helping society cope with the impact of these events.As one of the most impactful weather typhoon seasons appears and continues,airlines operating in threatened areas and passengers having travel plans during this time period will pay close attention to the development of tropical storms.This paper proposes a deep multimodal fusion and multitasking trajectory prediction model that can improve the reliability of typhoon trajectory prediction and reduce the quantity of flight scheduling cancellation.The deep multimodal fusion module is formed by deep fusion of the feature output by multiple submodal fusion modules,and the multitask generation module uses longitude and latitude as two related tasks for simultaneous prediction.With more dependable data accuracy,problems can be analysed rapidly and more efficiently,enabling better decision-making with a proactive versus reactive posture.When multiple modalities coexist,features can be extracted from them simultaneously to supplement each other’s information.An actual case study,the typhoon Lichma that swept China in 2019,has demonstrated that the algorithm can effectively reduce the number of unnecessary flight cancellations compared to existing flight scheduling and assist the new generation of flight scheduling systems under extreme weather.

Robust fixed-time flight controller for a dual-system convertible UAV in the cruise mode

This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.

An intelligent control method based on artificial neural network for numerical flight simulation of the basic finner projectile with pitching maneuver

In this paper,an intelligent control method applying on numerical virtual flight is proposed.The proposed algorithm is verified and evaluated by combining with the case of the basic finner projectile model and shows a good application prospect.Firstly,a numerical virtual flight simulation model based on overlapping dynamic mesh technology is constructed.In order to verify the accuracy of the dynamic grid technology and the calculation of unsteady flow,a numerical simulation of the basic finner projectile without control is carried out.The simulation results are in good agreement with the experiment data which shows that the algorithm used in this paper can also be used in the design and evaluation of the intelligent controller in the numerical virtual flight simulation.Secondly,combined with the real-time control requirements of aerodynamic,attitude and displacement parameters of the projectile during the flight process,the numerical simulations of the basic finner projectile’s pitch channel are carried out under the traditional PID(Proportional-Integral-Derivative)control strategy and the intelligent PID control strategy respectively.The intelligent PID controller based on BP(Back Propagation)neural network can realize online learning and self-optimization of control parameters according to the acquired real-time flight parameters.Compared with the traditional PID controller,the concerned control variable overshoot,rise time,transition time and steady state error and other performance indicators have been greatly improved,and the higher the learning efficiency or the inertia coefficient,the faster the system,the larger the overshoot,and the smaller the stability error.The intelligent control method applying on numerical virtual flight is capable of solving the complicated unsteady motion and flow with the intelligent PID control strategy and has a strong promotion to engineering application.

The Relation between Mental Workload and Face Temperature in Flight Simulation

In this research, we study the relationship between mental workload and facial temperature of aircraft participants during a simulated takeoff flight. We conducted experiments to comprehend the correlation between work and facial temperature within the flight simulator. The experiment involved a group of 10 participants who played the role of pilots in a simulated A-320 flight. Six different flying scenarios were designed to simulate normal and emergency situations on airplane takeoff that would occur in different levels of mental workload for the participants. The measurements were workload assessment, face temperatures, and heart rate monitoring. Throughout the experiments, we collected a total of 120 instances of takeoffs, together with over 10 hours of time-series data including heart rate, workload, and face thermal images and temperatures. Comparative analysis of EEG data and thermal image types, revealed intriguing findings. The results indicate a notable inverse relationship between workload and facial muscle temperatures, as well as facial landmark points. The results of this study contribute to a deeper understanding of the physiological effects of workload, as well as practical implications for aviation safety and performance.

Investigations of the mechanical response of dummy HTPB propellant grain under ultrahigh acceleration overload conditions using onboard flight-test measurements

In this paper,to study the mechanical responses of a solid propellant subjected to ultrahigh acceleration overload during the gun-launch process,specifically designed projectile flight tests with an onboard measurement system were performed.Two projectiles containing dummy HTPB propellant grains were successfully recovered after the flight tests with an ultrahigh acceleration overload value of 8100 g.The onboard-measured time-resolved axial displacement,contact stress and overload values were successfully obtained and analysed.Uniaxial compression tests of the dummy HTPB propellant used in the gunlaunched tests were carried out at low and intermediate strain rates to characterize the propellant's dynamic properties.A linear viscoelastic constitutive model was employed and applied in finite-element simulations of the projectile-launching process.During the launch process,the dummy propellant grain exhibited large deformation due to the high acceleration overload,possibly leading to friction between the motor case and propellant grain.The calculated contact stress showed good agreement with the experimental results,though discrepancies in the overall displacement of the dummy propellant grain were observed.The dynamic mechanical response process of the dummy propellant grain was analysed in detail.The results can be used to estimate the structural integrity of the analysed dummy propellant grain during the gun-launch process.

Flight Time Minimization of UAV for Cooperative Data Collection in Probabilistic LoS Channel

This paper investigates the data collection in an unmanned aerial vehicle(UAV)-aided Internet of Things(IoT) network, where a UAV is dispatched to collect data from ground sensors in a practical and accurate probabilistic line-of-sight(LoS) channel. Especially, access points(APs) are introduced to collect data from some sensors in the unlicensed band to improve data collection efficiency. We formulate a mixed-integer non-convex optimization problem to minimize the UAV flight time by jointly designing the UAV 3D trajectory and sensors’ scheduling, while ensuring the required amount of data can be collected under the limited UAV energy. To solve this nonconvex problem, we recast the objective problem into a tractable form. Then, the problem is further divided into several sub-problems to solve iteratively, and the successive convex approximation(SCA) scheme is applied to solve each non-convex subproblem. Finally,the bisection search is adopted to speed up the searching for the minimum UAV flight time. Simulation results verify that the UAV flight time can be shortened by the proposed method effectively.

Identifying influential spreaders in social networks: A two-stage quantum-behaved particle swarm optimization with Lévy flight

The influence maximization problem aims to select a small set of influential nodes, termed a seed set, to maximize their influence coverage in social networks. Although the methods that are based on a greedy strategy can obtain good accuracy, they come at the cost of enormous computational time, and are therefore not applicable to practical scenarios in large-scale networks. In addition, the centrality heuristic algorithms that are based on network topology can be completed in relatively less time. However, they tend to fail to achieve satisfactory results because of drawbacks such as overlapped influence spread. In this work, we propose a discrete two-stage metaheuristic optimization combining quantum-behaved particle swarm optimization with Lévy flight to identify a set of the most influential spreaders. According to the framework,first, the particles in the population are tasked to conduct an exploration in the global solution space to eventually converge to an acceptable solution through the crossover and replacement operations. Second, the Lévy flight mechanism is used to perform a wandering walk on the optimal candidate solution in the population to exploit the potentially unidentified influential nodes in the network. Experiments on six real-world social networks show that the proposed algorithm achieves more satisfactory results when compared to other well-known algorithms.

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

基于FlightGear飞行仿真系统的数据采集方法

论文对FlightGear飞行仿真系统的总体结构、各模块之间的工作流程进行了详细的阐述,并对其在FlightGear系统中的XML配置文件进行了分析。再通过编写的XML配置文档和UDP通信协议实现了对模拟飞行数据的实时采集,以便于后续数据的分析及利用。该方法为以FlightGear为基础的飞行模拟系统或虚拟座舱系统提供了一种可用于实际应用的数据采集方法。

Design methodology of a mini-missile considering flight performance and guidance precision

The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.

Aerodynamic, Kinematic and Control Coupling Simulation of Aircraft Maneuvering Flight

Aiming at the high angle of attack pull-up and multi-channel roll pull-up coupling problems of high maneuvering aircraft, this paper establishes the flight attitude control rate by means of unsteady flow numerical solution, dynamic unstructured nested mesh assembly method and numerical solution method of flight mechanics equation. On this basis, a virtual flight simulation platform integrating pneumatics, motion and control is established. Based on this virtual flight simulation platform, F-16 aircraft is simulated by high angle of attack pull-up flight mode and multi-channel roll pull-up coupling flight mode. Finally, the influence of rudder on the yaw control channel is investigated. The results show that the numerical virtual flight simulation platform established in this paper has the ability to simulate maneuvering flight of aircraft.

Research on Teaching Methods of Flight Control Principles

With the rapid development of China’s civil aviation industry,the teaching method of operating knowledge of flight principles has changed greatly,which creates a good implementation environment to improve the safety of civil aviation in our country.At present,the main training content of air route transport pilots in China is basic aviation theory,initial flight training,airline modification,etc.The principles of flight control are an important part of basic aviation theoretical knowledge training,which will involve a large number of flight technology training content,instructors will also be based on the pilot type.Teaching flight control theory and practical knowledge requires relatively high theoretical learning ability of students,and the learning effect of this part of theoretical knowledge will directly affect the quality of subsequent learning,but also directly affect the effectiveness of flight training.This paper focuses on the analysis of the basic concepts of flight control,studies the existing problems in the teaching of flight control principles,summarizes the teaching measures of flight control principles,aiming to provide a reference to teaching personnel.

Integrated fire/flight control of armed helicopters based on C-BFGS and distributionally robust optimization

To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.

南方先进光源C波段光阴极电子枪微波设计

作为南方先进光源直线段注入器重要设备,开展了C波段光阴极电子枪研究,包括驻波腔微波设计和耦合器设计。其中驻波腔采用3.6腔结构,π模加速模式,工作频率为5.712 GHz;耦合器采用同轴耦合方式。利用Superfish及CST完成了腔体微波结构设计,优化盘片的形状,降低腔体表面最大电场,从而有利于提高腔体加速场强;利用COMSOL开展了腔体水冷系统的分析,优化设计水路,减少腔体由于功率负载所造成的频率偏移,控制腔体温度的上升,保持腔体最大温升小于20℃。在18.15 MW的入腔功率下,阴极面最高场强为180 MV/m,腔体表面最大场强与阴极面场强比值约为0.934 6,腔体Q值大于10 000。通过对耦合器的设计,抑制二极模和四极模的传输,S_(11)参数小于-40 dB。

搭载实践十号卫星的不同小麦品种突变体鉴定与分析

为探讨卫星搭载对小麦农艺性状、高分子量麦谷蛋白亚基(HMW-GS)和分子水平变异的影响,本研究利用十二烷基硫酸钠-聚丙烯酰胺凝胶电泳(SDS-PAGE)技术、简单重复序列(SSR)标记技术对实践十号返回式科学实验卫星搭载周麦18、周麦22和汶农14小麦品种干种子的SP3代农艺性状变异和SP5代突变系的HMW-GS和SSR分子标记多态性进行鉴定与分析。结果发现,航天诱变SP3代农艺性状与其野生型存在明显差异,且不同小麦品种对太空环境的敏感性不同。航天搭载能够诱发高分子量麦谷蛋白亚基和基因组DNA发生变异,发现3个小麦品种高分子量麦谷蛋白亚基的变异频率分别为2.15%、3.66%和5.21%,其中汶农14突变体HMW-GS亚基变异频率最高。21个SSR分子标记检测结果显示,周麦18和周麦22的航天诱变突变体与其野生型差异标记数量均不超过2个,而汶农14航天诱变的部分突变体与其野生型间差异标记数量较多,且株高和穗型等性状发生了遗传分离。综上,航天诱变使小麦基因组和蛋白组发生变异,所创制的优异特色突变体可为小麦育种的遗传改良和功能基因的研究利用提供丰富的材料基础。

高功率TM_(01)在线选模耦合装置设计

针对传统高功率微波在线测量装置寄生模式抑制度低、测量精度易受到寄生模式干扰的问题,提出了一种高功率TM_(01)模式选模耦合装置。由于相对论返波管阴极发射角向不均匀性会产生非对称模式,而传统的单臂多孔圆波导耦合器无法解决其他非对称模寄生耦合干扰的问题,往往导致检测波形畸变、耦合度判断偏差,严重影响对返波管TM_(01)模输出功率在线评估的准确性。为此,将四臂多孔耦合结构与基于魔T的TM_(01)选模网络相结合,提出了一种新颖的在线选模耦合装置,利用不同波导模式场结构区别实现了TM_(01)模式与其他寄生模式的差异化耦合,解决了因寄生模式干扰引起的在线测试功率不准的问题。仿真结果表明,提出的新型耦合器对TM_(01)模耦合强度相对于其他模式高出20 dB以上,高功率实验中测得在线测试波形及功率与辐射场测试波形及功率符合较好,耦合稳定性得到明显提高。

基于改进鸟群算法的舰船管道路径设计方法

针对鸟群算法易陷入局部最优解的问题,本文提出一种多维度自由粒子改进鸟群算法,并基于FPBSA算法提出了一种舰船管道路径设计方法。提出一种编码方法,采用莱维飞行替代鸟群算法的随机搜索过程,增强算法寻优能力;设计一种多维度自由粒子用于精准寻优,解决算法在处理多维度问题时容易陷入局部最优解的问题;给出一种新的分支管道处理策略,并给出了一种可用于求解单管道、分支管道混合布置设计的舰船管道路径设计方法。对比实验结果表明:FPBSA算法在相同条件下收敛速度提升了约80%,证明了所提算法的高效性和其卓越的快速收敛性能。同时,通过仿真案例和UTS实际案例进一步证明了所提算法的实用性和可靠性。研究成果可以为实际舰船的管道布置设计提供依据和支撑。

基于Levy flight的特征选择算法

为了提高特征选择方法的计算速度,提出基于Levy flight随机过程的特征选择方法.该方法在寻优过程中定义基于启发式的分阶段搜索策略,在局部搜索行为中引入Levy flight随机过程,将Levy flight距离与搜索行为进行映射.在不同的搜索阶段,利用不同的映射区间改变搜索行为出现的概率,以该映射来控制局部搜索行为的方向和速度,从而避免了陷入局部最优的问题.实验结果表明,采用LevyFS算法克服了启发式特征选择方法的局限性,平均耗时仅为SFFS算法的1/3左右.